CN111009135B - Method and device for determining vehicle running speed and computer equipment - Google Patents
Method and device for determining vehicle running speed and computer equipment Download PDFInfo
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
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Abstract
The application discloses a method and a device for determining vehicle running speed and computer equipment, and relates to the technical field of intelligent traffic. The specific implementation scheme is as follows: acquiring a video of a vehicle passing through a specific driving road section; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the fixed size of each marker in the plurality of markers and the number of the plurality of markers, predicting the length of the driving road section according to the length of the line, and determining the driving speed of the vehicle according to the length of the driving road section and the time length of the vehicle passing through the driving road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
Description
Technical Field
The present application relates to the field of image processing technologies in the field of intelligent transportation technologies, and in particular, to a method and an apparatus for determining a vehicle driving speed, and a computer device.
Background
With the continuous improvement of the living standard of people, the motor vehicle occupies an important position when people go out, and more people prefer the motor vehicle when going out. But is accompanied by a sharp increase in the number of motor vehicles, resulting in an increase in traffic accidents. Among them, the overspeed driving is one of the leading causes of traffic accidents, and the overspeed driving continuously threatens the safety of drivers, passengers and pedestrians.
In the related art, the calculation of the travel speed of the vehicle during travel depends on the statistics of the vehicle travel distance and the vehicle travel time period. The counting of the vehicle running time is simple, but the actual distance is difficult to identify by the fact that the vehicle running distance is only dependent on the distance in the image acquired by the camera, so that the technical problem that the vehicle running speed cannot be accurately calculated is solved.
Disclosure of Invention
The application provides a method for determining the vehicle running speed, and solves the technical problem that the accuracy of the determined vehicle running speed is low in the vehicle running process in the related technology.
The embodiment of the first aspect of the application provides a method for determining the running speed of a vehicle, which comprises the following steps:
acquiring a video of the vehicle passing through a specific driving road section;
identifying a plurality of markers from a single frame image of the video;
determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers;
predicting the length of the running road section according to the length of the line section;
and determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video.
As a first possible implementation manner of the embodiment of the present application, the predicting, according to the length of the line segment, the length of the travel segment includes:
and converting the length of the line segment according to the angle relation between the line segment and the vehicle running track to obtain the length of the running road segment.
As a second possible implementation manner of the embodiment of the present application, the converting the length of the line segment according to the angular relationship between the line segment and the vehicle driving track to obtain the length of the driving road segment includes:
if the included angle between the line segment and the driving road section is smaller than or equal to an angle threshold value, determining a reference line passing through a first marker and a reference line passing through a last marker; each datum line is connected with the driving road section and is perpendicular to a tangent line of the driving road section;
according to the included angle, performing trigonometric function calculation on the length of the line segment to obtain the length of a part of the road segment between two reference lines in the driving road segment;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
As a third possible implementation manner of the embodiment of the present application, the converting the length of the line segment according to the angular relationship between the line segment and the vehicle driving track to obtain the length of the driving road segment includes:
if the included angle between the line segment and the driving road section is larger than the angle threshold value, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
As a fourth possible implementation manner of the embodiment of the present application, the predicting, according to the length of the line segment, the length of the travel segment includes:
converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
wherein the type of the marker comprises a pedestrian crossing line and a lane dividing broken line.
As a fifth possible implementation manner of the embodiment of the present application, the obtaining the length of the travel section by converting the length of the line segment according to the type of the marker includes:
if the type of the marker is a lane-dividing dotted line, determining a reference line of a first marked line and a reference line of a last marked line in the vertical lane-dividing dotted line in the driving road section respectively;
taking the length of the line segment as the length of a part of the line segment between two datum lines;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
As a sixth possible implementation manner of the embodiment of the present application, the obtaining the length of the travel section by converting the length of the line segment according to the type of the marker includes:
if the type of the marker is a pedestrian crossing line, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
An embodiment of a second aspect of the present application provides a device for determining a running speed of a vehicle, including:
the acquisition module is used for acquiring a video of the vehicle passing through a specific driving road section;
the identification module is used for identifying a plurality of markers from a single-frame image of the video;
the determining module is used for determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers;
the prediction module is used for predicting the length of the running road section according to the length of the line section;
and the speed measuring module is used for determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video.
An embodiment of a third aspect of the present application provides a computer device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining a travel speed of a vehicle as described in the above embodiments.
An embodiment of a fourth aspect of the present application proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for determining a traveling speed of a vehicle described in the above embodiment.
One embodiment in the above application has the following advantages or benefits: acquiring a video of a vehicle passing through a specific driving road section; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers, predicting the length of the driving road section according to the length of the line, and determining the driving speed of the vehicle according to the length of the driving road section and the time length of the vehicle passing through the driving road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a schematic flowchart of a method for determining a driving speed of a vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for determining a vehicle running speed according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of a driving section of a vehicle according to a second embodiment of the present application;
fig. 4 is a schematic flowchart of a method for determining a vehicle running speed according to a third embodiment of the present application;
fig. 5 is a schematic flowchart of a method for determining a vehicle running speed according to a fourth embodiment of the present application;
fig. 6 is a schematic flowchart of a method for determining a vehicle running speed according to a fifth embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle travel speed determination device according to a sixth embodiment of the present application;
fig. 8 is a schematic structural diagram of another vehicle travel speed determination device according to a sixth embodiment of the present application;
fig. 9 is a block diagram of a computer device of a method of determination of a vehicle travel speed according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the related technology, a method for calculating the running speed of a vehicle when the vehicle runs to an intersection determines the actual running distance of the vehicle according to the running distance of the vehicle in an image acquired by a camera in a camera internal and external parameter calibration mode, and then determines the running speed of the vehicle according to the time length of the vehicle passing through the running distance. However, when the actual travel distance of the vehicle is determined, the actual travel distance of the vehicle is easily affected by the photographing angle, so that the determined actual travel distance of the vehicle is deviated, and the accuracy of the determined travel speed of the vehicle is low.
In order to solve the above technical problem, an embodiment of the present application provides a method for determining a vehicle driving speed, where a video of a vehicle passing through a specific driving section is obtained; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the specific size of each marker in the plurality of markers and the number of the plurality of markers, predicting the length of the driving road section according to the length of the line, and determining the driving speed of the vehicle according to the length of the driving road section and the time length of the vehicle passing through the driving road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section in the video, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
The following describes a method, an apparatus, and a computer device for determining a vehicle running speed according to embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for determining a vehicle running speed according to an embodiment of the present application.
The embodiment of the present application is exemplified in that the method for determining the vehicle running speed is configured in a device for determining the vehicle running speed, and the device for determining the vehicle running speed can be applied to any computer device, so that the computer device can execute the function of determining the vehicle running speed.
The Computer device may be a Personal Computer (PC), a cloud device, a mobile device, a smart speaker, and the like, and the mobile device may be a hardware device having various operating systems, such as a mobile phone, a tablet Computer, a Personal digital assistant, a wearable device, and an in-vehicle device.
As shown in fig. 1, the method for determining the traveling speed of the vehicle may include the steps of:
In the embodiment of the application, in order to determine the running speed of the vehicle on a specific running section during the running process of the vehicle on the road, a video of the vehicle passing through the specific running section can be acquired, so that the running speed of the vehicle can be determined according to the video of the vehicle passing through the specific running section. For example, the particular travel segment may be a travel segment of an intersection.
For example, videos of vehicles passing through a specific driving section collected by the cameras at the intersection can be acquired, and videos of vehicles passing through the specific driving section collected by the cameras at two sides of the road can also be acquired.
In step 102, a plurality of markers are identified from a single frame of image of a video.
The type of the marker can be a road middle separation guardrail, a pedestrian crossing line, a lane dividing broken line and the like, and the external dimension of the marker of the same type is fixed.
It should be noted that the position of the camera for capturing the video of the specific travel section is fixed, and therefore, the specific travel section at the same position is captured in each frame of image in the video captured by the camera. That is, the positions of the specific travel section captured in the single frame image acquired from the video and each frame image in the video are the same, and the positions of the markers in each frame image in the video in which the vehicle passes through the specific travel section are also the same.
In the embodiment of the application, after the video that the vehicle passes through the specific driving road section is acquired, the processor of the computer device acquires a single-frame image from the video, and then identifies the multiple markers from the single-frame image.
It should be noted that the single-frame image obtained from the video of the vehicle passing through the specific travel road segment is not limited to the first frame image or the last frame image, and may be any one frame image in the video, which is not limited in this embodiment.
The multiple markers identified from the single frame image may be the same type of marker, or different types of markers, and the types of the multiple markers identified in this embodiment are not limited.
As one possible implementation, multiple markers may be identified from a single frame of image using an already trained recognition model. Wherein the recognition model has learned image features of each type of marker. Specifically, after a single frame image is acquired from a video of a vehicle passing through a specific travel section, the single frame image is input into a trained recognition model, and the recognition model outputs all markers included in the image.
In the embodiment of the present application, the type, position, and outer dimensions of each marker are labeled in the sample image used for training the recognition model, so that the type, position, and outer dimensions of a plurality of markers can be recognized after a single frame image is input to the trained recognition model.
And 103, determining the length of the line connecting the multiple markers according to the external dimension of each marker in the multiple markers and the number of the multiple markers.
In a possible case, when the plurality of markers identified from the single-frame image are markers of the same type, the length of the line connecting the plurality of markers may be determined according to the external dimensions of the markers and the number of the markers in the single-frame image.
For example, if the markers identified from the single frame image are fixed piers for fixing the barrier fence, the respective fixed piers are connected to determine line segments connecting the plurality of fixed piers. Because the overall dimension of the fixed piers is the same, further, the length of the line segment connecting the plurality of fixed piers can be determined according to the overall dimension of the fixed piers, the distance between two adjacent fixed piers and the number of the fixed piers.
For example, assuming that the outer dimension of the fixed pier is 0.3 m, the distance between two adjacent fixed piers is 0.5 m, and the number of the fixed piers is 8, the length of the line connecting the 8 fixed piers can be determined to be 5.9 m, i.e. 0.3 × 8+0.5 × 7.
And step 104, predicting the length of the running road section according to the length of the line section.
In the embodiment of the application, after the length of the line segment connecting the plurality of markers is determined, the length of the vehicle driving road segment can be predicted according to the length of the line segment.
In the embodiment of the application, when the vehicle runs to the intersection, the vehicle passes through the road division section and the pedestrian crossing, and the lengths of the road division section and the pedestrian crossing are required to be determined.
As a possible implementation manner, after the length of the line segment connecting the multiple markers is determined, the length of the line segment may be converted according to the angle relationship between the line segment and the vehicle driving track, so as to obtain the length of the driving road segment.
As another possible implementation manner, after the length of the line segment connecting the multiple markers is determined, the length of the line segment can be converted according to the types of the markers to obtain the length of the driving road segment; the types of the markers comprise pedestrian crossing lines and lane-dividing broken lines.
And 105, determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video.
In the embodiment of the application, after the video of the vehicle passing through the specific driving section is acquired, the time length of the vehicle passing through the driving section can be determined in the video, for example, the vehicle can be determined to enter the driving section at the time T1 and exit the driving section at the time T2 from the video, and therefore the time length of the vehicle passing through the driving section is determined to be T2-T1.
In the embodiment of the application, after the length of the driving road section of the vehicle is predicted according to the length of the line connecting the plurality of markers, and after the time length of the vehicle passing through the driving road section is determined from the video, the ratio of the length of the driving road section to the time length of the vehicle passing through the driving road section is calculated, and the driving speed of the vehicle passing through the driving road section can be determined.
According to the method for determining the vehicle running speed, the video of the vehicle passing through the specific running road section is obtained; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers; predicting the length of the running road section according to the length of the line section; and determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section in the video, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
In step 104 of the foregoing embodiment, when the length of the travel section is predicted according to the length of the line segment, the length of the travel section may be obtained by converting the length of the line segment according to the angular relationship between the line segment and the vehicle travel track, and in a possible case, when the included angle between the line segment and the vehicle travel section is small, the reference line passing through the first marker and the reference line passing through the last marker may be determined, and further, the length of the line segment is subjected to trigonometric function calculation to obtain the length of a part of the travel section located between the two reference lines in the travel section, so as to determine the length of the travel section according to the proportion of the part of the travel section in the travel section. The following describes the above processes in detail with reference to the second embodiment, and fig. 2 is a flowchart illustrating a method for determining a vehicle running speed according to the second embodiment of the present application.
As shown in fig. 2, the method for determining the vehicle running speed may further include:
in step 201, an included angle between the line segment and the vehicle driving road segment is determined.
In the embodiment of the application, after a plurality of markers are identified from a single-frame image according to a video of a running road section through which a vehicle passes, the length of a line connecting the plurality of markers is determined. Since the vehicle driving track may not be a straight line, there is a certain angle between the line segment connecting the plurality of markers and the vehicle driving road segment.
As a possible case, when the type of the marker is a fence, a street lamp, a lane-dividing broken line, an included angle between a line segment connecting the plurality of markers and a vehicle driving section is small.
As another possible case, when the type of the marker is a pedestrian crossing at an intersection, an angle between a line segment connecting the plurality of markers and a vehicle travel section is large.
The angle threshold is a set angle value and is used for judging the size relation of included angles between a line segment connecting the multiple markers and a vehicle running road section.
In the embodiment of the application, when the included angle between the line segment connecting the plurality of markers and the vehicle driving road section is determined to be smaller than or equal to the angle threshold value, the reference line passing through the first marker and the reference line passing through the last marker are determined according to the plurality of markers identified in the single-frame image.
It should be noted that the reference line of each marker is connected to the traveling road section and perpendicular to the tangent line of the traveling road section. And, a right triangle may be determined by a line segment passing between the reference line of the first marker and the reference line of the last marker, and a line segment connecting the plurality of markers, the length of the reference line to the driving section, and the angle connecting the plurality of marker line segments and the driving section of the vehicle, as shown in fig. 3.
And step 203, performing trigonometric function calculation on the length of the line segment according to the included angle to obtain the length of a part of the road segment between the two reference lines in the driving road segment.
In the embodiment of the application, according to the length of the line segment connecting the plurality of markers and the included angle between the plurality of markers and the vehicle driving road segment, the length of the line segment is subjected to trigonometric function calculation, and then the length of a part of the road segment between two reference lines in the driving road segment is obtained.
As an example, referring to fig. 3, a length of a line connecting a plurality of markers in fig. 3 is Z, an included angle between the line connecting the plurality of markers and the vehicle travel section is α, a length of a partial section between two reference lines in the travel section is X, and a length of the line is calculated by a trigonometric function, so that the length of the partial section between the two reference lines in the travel section is Z/cos α.
As a possible case, if the included angle between the line segment connecting the plurality of markers and the vehicle travel segment is small, the uncertainty can be ignored, and the length of the partial segment between the two reference lines in the travel segment may be the length of the line segment connecting the plurality of markers.
And step 204, determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
In the embodiment of the application, after the number of pixels occupied by the partial road section is determined from the single-frame image of the video and the number of pixels occupied by the specific driving road section is determined, the ratio of the number of pixels occupied by the partial road section to the number of pixels occupied by the specific driving road section is calculated, and the occupation ratio of the partial road section in the driving road section can be determined.
In the embodiment of the application, after the length of the partial road section between the two reference lines in the vehicle driving road section is determined, the length of the vehicle driving road section can be determined according to the length of the partial road section and the proportion of the partial road section in the vehicle driving road section.
For example, if it is determined that a length of a partial section between two reference lines in the vehicle travel section is 2 meters and a percentage of the partial section in the vehicle travel section is 1/5, it may be determined that the length of the vehicle travel section is 10 meters.
In the embodiment of the application, when the included angle between the line segment and the driving road section is smaller than or equal to the angle threshold value, the reference line passing through the first marker and the reference line passing through the last marker are determined; each datum line is connected with the driving road section and is perpendicular to a tangent line of the driving road section; according to the included angle, performing trigonometric function calculation on the length of the line segment to obtain the length of a part of the road segment between two reference lines in the driving road segment; and determining the length of the driving road section according to the occupation ratio of the part of the road section in the driving road section and the length of the part of the road section. Therefore, the length of the driving road section is predicted according to the included angle between the line section and the form road section and the length of the line section, and the accuracy of determining the length of the road section is improved.
In another possible case, when the included angle between the line segment and the vehicle driving road segment is greater than the angle threshold, the length of the driving road segment may be obtained according to the number of pixels of the line segment and the form road segment, respectively, which account for the number of pixels. The above process is described in detail with reference to the third embodiment, and fig. 4 is a flowchart illustrating a method for determining a vehicle running speed according to the third embodiment of the present application.
As shown in fig. 4, the method for determining the vehicle running speed may further include:
and step 301, determining an included angle between the line segment and the vehicle driving road section.
In the embodiment of the present application, the implementation process of step 301 refers to the implementation process of step 201 in the foregoing embodiment, and is not described herein again.
In the embodiment of the application, when the included angle between the line segment connecting the plurality of markers and the vehicle driving road section is determined to be larger than the angle threshold, the number of pixels in the single-frame image and the number of pixels of the line segment connecting the plurality of markers are counted, the number of pixels of the single-frame image occupied by the line segment is obtained, and the number of pixels is recorded as a first pixel number. Meanwhile, the number of pixels of the vehicle driving road section is counted, the number of pixels of the single-frame image occupied by the vehicle driving road section is calculated, and the number of pixels is recorded as a second pixel number.
And step 303, multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
In the embodiment of the application, the length of the vehicle driving road section can be obtained by multiplying the length of the line section by the ratio of the second pixel number to the first pixel number after the number of the pixels occupied by the line section is determined to obtain the first pixel number and the number of the pixels occupied by the driving road section is determined to obtain the second pixel number.
In the embodiment of the application, when the included angle between the line segment and the driving road segment is larger than the angle threshold, the number of pixels occupied by the line segment is determined to obtain a first pixel number, the number of pixels occupied by the driving road segment is determined to obtain a second pixel number, and the length of the driving road segment is obtained by multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number. Therefore, when the included angle between the line segment and the driving road segment is larger than the angle threshold value, the length of the driving road segment is determined through the line segment connecting the plurality of markers and the pixel ratio of the driving road segment in the single-frame image, and the accuracy of determining the length of the driving road segment is improved.
In step 104 of the foregoing embodiment, when the length of the travel section is predicted according to the length of the line segment, and the length of the travel section may be obtained by converting the length of the line segment according to the type of the marker, in a possible case, when the type of the marker identified from the single-frame image is the lane-dividing broken line, the reference line of the first marked line and the reference line of the last marked line in the lane-dividing broken line may be determined in the travel section, the length of the line segment is used as the length of the partial section between the two reference lines, and the length of the travel section is determined according to the proportion of the partial section in the travel section. The following describes the above process in detail with reference to the fourth embodiment, and fig. 5 is a flowchart illustrating a method for determining a vehicle running speed according to the fourth embodiment of the present application.
As shown in fig. 5, the method for determining the vehicle running speed may further include:
in step 401, the type of the marker for identifying the plurality of markers from the single frame image is determined.
In the embodiment of the application, when a plurality of markers are identified from a single-frame image according to a video of a driving road section of a vehicle, the types of the markers of the plurality of markers are determined.
As one possible implementation, multiple markers may be identified from a single frame of image using an already trained recognition model. Wherein the recognition model has learned image features of each type of marker. Specifically, after a single-frame image is acquired from a video of a vehicle passing through a driving road section, the single-frame image is input into a trained recognition model, and the recognition model outputs a marker in the image.
In the embodiment of the present application, the type, the position, and the fixed size of each marker are labeled in the sample image used for training the recognition model, so that the type, the position, and the fixed size of a plurality of markers can be recognized after a single frame image is input to the trained recognition model.
For example, the type of sign may be a lane-dividing broken line, a crosswalk line, a street light, a road pier, and the like.
In the embodiment of the application, when the type of the marker identified from the single-frame image is the lane-dividing dotted line, in the driving road section of the vehicle, the reference line perpendicular to the first marked line in the lane-dividing dotted line and the reference line perpendicular to the last marked line in the lane-dividing dotted line are determined.
Because the length of the broken lane lines in the road and the distance between two adjacent broken lane lines are fixed values, the length of the line connecting the markers can be determined according to the broken lane lines identified from the single-frame image.
And step 403, taking the length of the line segment as the length of a part of the line segment between two datum lines.
In the embodiment of the application, the line segments connecting the multiple lane-dividing dotted lines are parallel to the vehicle running road section, or the included angles between the line segments connecting the multiple lane-dividing dotted lines and the vehicle running road section are small and can be ignored. In this case, the determined segment length may be used as a partial segment length between two reference lines.
And step 404, determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
In the embodiment of the application, after the length of the partial road section between the two reference lines in the vehicle driving road section is determined, the length of the vehicle driving road section can be determined according to the length of the partial road section and the proportion of the partial road section in the vehicle driving road section.
For example, if it is determined that a length of a partial section between two reference lines in the vehicle travel section is 2 meters and a percentage of the partial section in the vehicle travel section is 1/5, it may be determined that the length of the vehicle travel section is 10 meters.
In the embodiment of the application, when the type of the marker of the multiple markers identified from the single-frame image is determined to be the lane-dividing dotted line, the reference line of the first marked line and the reference line of the last marked line in the lane-dividing dotted line are respectively and vertically determined in the driving road section, the length of the line segment is used as the length of a part of the road section between the two reference lines, and the length of the driving road section is determined according to the occupation ratio of the part of the road section in the driving road section and the length of the part of the road section. Therefore, the length of the driving road section can be determined by connecting the line segments of the plurality of lane-dividing dotted lines, and the accuracy of determining the length of the driving road section is improved.
In another possible case, when the type of the marker recognized from the single frame image is a pedestrian crossing, the length of the vehicle travel section may be determined based on the line segment and the number of pixels occupied by the vehicle travel section. The above process is described in detail with reference to the fifth embodiment, and fig. 6 is a flowchart illustrating a method for determining a vehicle running speed according to the fifth embodiment of the present application.
As shown in fig. 6, the method for determining the vehicle running speed may further include:
In the embodiment of the present application, the implementation process of step 501 may refer to the implementation process of step 401 in the fourth embodiment, which is not described herein again.
In the embodiment of the application, when the types of the multiple markers are identified as the pedestrian crossing lines from the single-frame image, the ratio of the number of pixels of the length of the line segment connected with the pedestrian crossing lines to the number of pixels of the single-frame image is determined, and the first pixel number is obtained. And determining the ratio of the number of the pixels of the vehicle driving road section to the number of the pixels of the single-frame image to obtain a second number of pixels.
And 503, multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
In the embodiment of the application, the length of the vehicle driving road section can be obtained by multiplying the length of the line section by the ratio of the second pixel number to the first pixel number after the number of the pixels occupied by the line section is determined to obtain the first pixel number and the number of the pixels occupied by the driving road section is determined to obtain the second pixel number.
In the embodiment of the application, when the type of the marker of the multiple markers identified from the single-frame image is determined to be the pedestrian crossing line, the number of pixels occupied by the line segment is determined to obtain a first pixel number, the number of pixels occupied by the driving road section is determined to obtain a second pixel number, and the length of the driving road section is obtained by multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number. Therefore, the length of the driving road section is determined by the line segment connecting the plurality of pedestrian crossing lines and the pixel ratio of the driving road section in the single-frame image, and the accuracy of determining the length of the driving road section is improved.
In order to realize the embodiment, the embodiment of the application also provides a device for determining the running speed of the vehicle.
Fig. 7 is a schematic structural diagram of a vehicle running speed determination device according to a sixth embodiment of the present application.
As shown in fig. 7, the vehicle running speed determination device 600 includes: the system comprises an acquisition module 610, an identification module 620, a determination module 630, a prediction module 640 and a speed measurement module 650.
The acquiring module 610 is used for acquiring a video of a vehicle passing through a specific driving road section.
And an identifying module 620, configured to identify a plurality of markers from a single frame of image of the video.
The determining module 630 is configured to determine a length of the segment connecting the plurality of markers according to the external dimension of each of the plurality of markers and the number of the plurality of markers.
And the prediction module 640 is used for predicting the length of the traveling road section according to the length of the line section.
The speed measuring module 650 is configured to determine a vehicle running speed according to the length of the running road section and the time length of the vehicle passing through the running road section in the video.
As a possible scenario, referring to fig. 8, the prediction module 640 may further include:
the first conversion unit 641 is configured to convert the length of the line segment according to the angular relationship between the line segment and the vehicle driving track, so as to obtain the length of the driving road segment.
As another possible scenario, the first scaling unit 641 may further be configured to:
if the included angle between the line segment and the driving road section is smaller than or equal to the angle threshold value, determining a reference line passing through the first marker and a reference line passing through the last marker; each datum line is connected with the driving road section and is perpendicular to a tangent line of the driving road section;
according to the included angle, performing trigonometric function calculation on the length of the line segment to obtain the length of a part of the road segment between two reference lines in the driving road segment;
and determining the length of the driving road section according to the occupation ratio of the part of the road section in the driving road section and the length of the part of the road section.
As another possible scenario, the first scaling unit 641 may further be configured to:
if the included angle between the line segment and the vehicle running track is larger than the angle threshold, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the running road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
As a possible scenario, the prediction module 640 may further include:
the second conversion unit 642 is used for converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
the types of the markers comprise pedestrian crossing lines and lane-dividing broken lines.
As a possible scenario, the second scaling unit 642 may further be configured to:
if the type of the marker is a lane-dividing dotted line, determining a reference line of a first marked line and a reference line of a last marked line in the vertical lane-dividing dotted line in the driving road section respectively;
taking the length of the line segment as the length of a part of the line segment between two datum lines;
and determining the length of the driving road section according to the occupation ratio of the part of the road section in the driving road section and the length of the part of the road section.
As a possible scenario, the second scaling unit 642 may further be configured to:
if the type of the marker is a pedestrian crossing line, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
The device for determining the running speed of the vehicle comprises a video acquisition unit, a video acquisition unit and a video display unit, wherein the video acquisition unit is used for acquiring the video of the vehicle passing through a specific running road section; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers, predicting the length of the driving road section according to the length of the line, and determining the driving speed of the vehicle according to the length of the driving road section and the time length of the vehicle passing through the driving road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
According to an embodiment of the present application, a computer device and a readable storage medium are also provided.
As shown in fig. 9, is a block diagram of a computer device of a method of determination of a vehicle travel speed according to an embodiment of the present application. Computer devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The computer device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 9, the computer apparatus includes: one or more processors 801, memory 802, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the computer device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple computer devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 9 illustrates an example of a processor 801.
The memory 802 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of vehicle travel speed determination provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method of determining a vehicle travel speed provided herein.
The memory 802, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for determining a traveling speed of a vehicle in the embodiment of the present application (for example, the obtaining module, the identifying module, the determining module, the predicting module, and the speed measuring module shown in fig. 6). The processor 801 executes various functional applications of the server and data processing, i.e., a method of determining the traveling speed of the vehicle in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 802.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the computer device according to determination of the vehicle running speed, and the like. Further, the memory 802 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 802 optionally includes memory located remotely from the processor 801, which may be connected over a network to a computer device for vehicle travel speed determination. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The computer device of the method of determining a vehicle travel speed may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are exemplified by a bus in fig. 9.
The input device 803 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the computer apparatus for determination of vehicle travel speed, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or like input device. The output devices 804 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the video of the vehicle passing through the specific driving road section is obtained; identifying a plurality of markers from a single frame image of a video; determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers, predicting the length of the driving road section according to the length of the line, and determining the driving speed of the vehicle according to the length of the driving road section and the time length of the vehicle passing through the driving road section in the video. The method predicts the length of the driving road section according to a plurality of markers in the video of the driving road section of the vehicle, and further determines the driving speed of the vehicle according to the time length of the vehicle passing through the driving road section, so that the technical problem that the driving speed of the vehicle cannot be accurately determined in the driving process of the vehicle in the related technology is solved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (14)
1. A method of determining a travel speed of a vehicle, the method comprising:
acquiring a video of the vehicle passing through a specific driving road section;
identifying a plurality of markers from a single frame image of the video;
determining the length of a line connecting the plurality of markers according to the external dimension of each marker in the plurality of markers and the number of the plurality of markers; the overall dimensions of the markers of the same type are fixed; predicting the length of the running road section according to the length of the line section; determining the type of the marker according to the angle relation between the line segment and the vehicle running track; converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video;
determining the type of the marker according to the angle relation between the line segment and the vehicle running track, wherein the determining comprises the following steps:
when the included angle between the line segment and the driving road section is smaller than or equal to an angle threshold value, the type of the marker is type 1;
and if the included angle between the line segment and the driving road section is larger than the angle threshold value, the type of the marker is type 2.
2. The determination method according to claim 1, wherein the converting the length of the line segment according to the angular relationship between the line segment and the vehicle driving track to obtain the length of the driving road segment comprises:
if the included angle between the line segment and the driving road section is smaller than or equal to an angle threshold value, determining a reference line passing through a first marker and a reference line passing through a last marker; each datum line is connected with the driving road section and is perpendicular to a tangent line of the driving road section;
according to the included angle, performing trigonometric function calculation on the length of the line segment to obtain the length of a part of the road segment between two reference lines in the driving road segment;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
3. The determination method according to claim 1, wherein the converting the length of the line segment according to the angular relationship between the line segment and the vehicle driving track to obtain the length of the driving road segment comprises:
if the included angle between the line segment and the driving road section is larger than the angle threshold value, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
4. The determination method according to claim 1, wherein the predicting the length of the travel section based on the segment length comprises:
converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
wherein the type of the marker comprises a pedestrian crossing line and a lane dividing broken line.
5. The determination method according to claim 4, wherein the converting the segment length according to the type of the marker to obtain the length of the travel segment comprises:
if the type of the marker is a lane-dividing dotted line, determining a reference line of a first marked line and a reference line of a last marked line in the vertical lane-dividing dotted line in the driving road section respectively;
taking the length of the line segment as the length of a part of the line segment between two datum lines;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
6. The determination method according to claim 4, wherein the converting the segment length according to the type of the marker to obtain the length of the travel segment comprises:
if the type of the marker is a pedestrian crossing line, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
7. An apparatus for determining a running speed of a vehicle, the apparatus comprising:
the acquisition module is used for acquiring a video of the vehicle passing through a specific driving road section;
the identification module is used for identifying a plurality of markers from a single-frame image of the video;
a determining module, configured to determine a length of a segment connecting the plurality of markers according to the fixed size of each of the plurality of markers and the number of the plurality of markers; the overall dimensions of the markers of the same type are fixed;
the prediction module is used for predicting the length of the running road section according to the length of the line section; determining the type of the marker according to the angle relation between the line segment and the vehicle running track; converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
the speed measuring module is used for determining the running speed of the vehicle according to the length of the running road section and the time length of the vehicle passing through the running road section in the video;
determining the type of the marker according to the angle relation between the line segment and the vehicle running track, wherein the determining comprises the following steps:
when the included angle between the line segment and the driving road section is smaller than or equal to an angle threshold value, the type of the marker is type 1;
and if the included angle between the line segment and the driving road section is larger than the angle threshold value, the type of the marker is type 2.
8. The determination apparatus of claim 7, wherein the prediction module comprises a first scaling unit configured to:
if the included angle between the line segment and the driving road section is smaller than or equal to an angle threshold value, determining a reference line passing through a first marker and a reference line passing through a last marker; each datum line is connected with the driving road section and is perpendicular to a tangent line of the driving road section;
according to the included angle, performing trigonometric function calculation on the length of the line segment to obtain the length of a part of the road segment between two reference lines in the driving road segment;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
9. The determination apparatus of claim 7, wherein the prediction module comprises a first scaling unit configured to:
if the included angle between the line segment and the driving road section is larger than the angle threshold value, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
10. The apparatus of claim 7, wherein the prediction module further comprises:
the second conversion unit is used for converting the length of the line segment according to the type of the marker to obtain the length of the driving road segment;
wherein the type of the marker comprises a pedestrian crossing line and a lane dividing broken line.
11. The determination apparatus according to claim 10, wherein the second scaling unit is further configured to:
if the type of the marker is a lane-dividing dotted line, determining a reference line of a first marked line and a reference line of a last marked line in the vertical lane-dividing dotted line in the driving road section respectively;
taking the length of the line segment as the length of a part of the line segment between two datum lines;
and determining the length of the driving road section according to the occupation ratio of the partial road section in the driving road section and the length of the partial road section.
12. The determination apparatus according to claim 10, wherein the second scaling unit is further configured to:
if the type of the marker is a pedestrian crossing line, determining the number of pixels occupied by the line segment to obtain a first pixel number, and determining the number of pixels occupied by the driving road section to obtain a second pixel number;
and multiplying the length of the line segment by the ratio of the second pixel number to the first pixel number to obtain the length of the driving road segment.
13. A computer device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of determining a speed of travel of a vehicle as claimed in any one of claims 1 to 6.
14. A non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for determining a traveling speed of a vehicle according to any one of claims 1 to 6.
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| CN103969466B (en) * | 2014-05-09 | 2017-02-01 | 中国联合网络通信集团有限公司 | Method for measuring speed of vehicle and corresponding terminal |
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